read_position_speed_motor.cpp

#include <Arduino.h>
#include <ESP32Encoder.h>

#define pulse2rev 824.5f

const int encoder_a = 26;
const int encoder_b = 25;
const int motor_control_a = 21;
const int motor_control_b = 22;
const int vr1_pin = 13, vr2_pin = 33, vr3_pin = 14, vr4_pin = 27;

// setting PWM properties
const int freq = 100;
const int ledChannel = 0;
const int resolution = 12;

int count = 0;
float degree = 0;
float degree_prev = 0;
float omega = 0;
ESP32Encoder encoder;

void setup() {
  Serial.begin(115200);
  ESP32Encoder::useInternalWeakPullResistors = UP;
  encoder.attachFullQuad(encoder_a, encoder_b);
  pinMode(motor_control_a, OUTPUT);
  pinMode(motor_control_b, OUTPUT);
  pinMode(vr1_pin, INPUT);
  pinMode(vr2_pin, INPUT);
  pinMode(vr3_pin, INPUT);
  pinMode(vr4_pin, INPUT);



  ledcSetup(ledChannel, freq, resolution);
  ledcAttachPin(motor_control_a, ledChannel);

}

void loop() {
  ledcWrite(ledChannel, analogRead(vr1_pin));

  degree_prev = degree; // save old position
  count = encoder.getCount(); // คำนวณตำแหน่งใหม่
  degree = count * 360.0f / pulse2rev; // คำนวณตำแหน่งใหม่

  omega = (degree - degree_prev) / 50 * 1000;
  Serial.print(analogRead(vr1_pin));
  Serial.print("     ");
  Serial.print(degree);
  Serial.print("     ");
  Serial.print(omega);
  Serial.print("\n");
  delay(50);
}

reading_encoder.cpp

#include <Arduino.h>

const int encoder_a = 26;
const int encoder_b = 25;
int encoder_a_val = 0;
int encoder_b_val = 0;
int encoder_a_val_prev = 0;
int encoder_b_val_prev = 0;
int count = 0;
void setup() {
  Serial.begin(115200);
  pinMode(encoder_a, INPUT_PULLUP);
  pinMode(encoder_b, INPUT_PULLUP);
}

void loop() {
  encoder_a_val_prev = encoder_a_val;
  encoder_b_val_prev = encoder_b_val;
  encoder_a_val = digitalRead(encoder_a);
  encoder_b_val = digitalRead(encoder_b);

  // Serial.print(encoder_a_val);
  // Serial.print(",");
  // Serial.print(encoder_b_val);
  // Serial.print("\n");

  if (encoder_b_val == 0 && encoder_a_val_prev == 0 && encoder_a_val == 1) {
    count++;
  }
  if (encoder_a_val == 1 && encoder_b_val_prev == 0 && encoder_b_val == 1) {
    count++;
  }
  if (encoder_b_val == 1 && encoder_a_val_prev == 1 && encoder_a_val == 0) {
    count++;
  }
  if (encoder_a_val == 0 && encoder_b_val_prev == 1 && encoder_b_val == 0) {
    count++;
  }

  if (encoder_b_val == 0 && encoder_a_val_prev == 1 && encoder_a_val == 0) {
    count--;
  }
  if (encoder_a_val == 1 && encoder_b_val_prev == 1 && encoder_b_val == 0) {
    count--;
  }
  if (encoder_b_val == 1 && encoder_a_val_prev == 0 && encoder_a_val == 1) {
    count--;
  }
  if (encoder_a_val == 0 && encoder_b_val_prev == 0 && encoder_b_val == 1) {
    count--;
  }
  Serial.print(count);
  Serial.print("\n");
  delay(5);
}

reading_encoder_2.cpp

#include <Arduino.h>

const int en_a_pin = 26;
const int en_b_pin = 25;
int en_a_val = 0;
int en_b_val = 0;
int en_a_val_prev = 0;
int en_b_val_prev = 0;
int count = 0;
void setup() {
  Serial.begin(115200);
  pinMode(en_a_pin, INPUT_PULLUP);
  pinMode(en_b_pin, INPUT_PULLUP);
}

void loop() {
  en_a_val_prev = en_a_val;
  en_b_val_prev = en_b_val;
  en_a_val = digitalRead(en_a_pin);
  en_b_val = digitalRead(en_b_pin);
  ///////////////////////////////////////////////////////////////
  if (en_b_val == 0 && en_a_val_prev == 0 && en_a_val == 1) {
    count++;
  }
  if (en_a_val == 1 && en_b_val_prev == 0 && en_b_val == 1) {
    count++;
  }
  if (en_b_val == 1 && en_a_val_prev == 1 && en_a_val == 0) {
    count++;
  }
  if (en_a_val == 0 && en_b_val_prev == 1 && en_b_val == 0) {
    count++;
  }
  /////////////////////////////////////////////////////////////////
  if (en_a_val == 0 && en_b_val_prev == 0 && en_b_val == 1) {
    count--;
  }
  if (en_b_val == 1 && en_a_val_prev == 0 && en_a_val == 1) {
    count--;
  }
  if (en_a_val == 1 && en_b_val_prev == 1 && en_b_val == 0) {
    count--;
  }
  if (en_b_val == 0 && en_a_val_prev == 1 && en_a_val == 0) {
    count--;
  }
  // Serial.print(en_a_val);
  // Serial.print(",");
  // Serial.print(en_b_val);
  // Serial.print("\n");
  Serial.print(count);
  Serial.print("\n");
  delay(5);
}

reading_encoder_interrupt.cpp

#include <Arduino.h>

const int encoder_a = 26;
const int encoder_b = 25;
int encoder_a_val = 0;
int encoder_b_val = 0;
int encoder_a_val_prev = 0;
int encoder_b_val_prev = 0;
int count = 0;

void IRAM_ATTR chA_isr(void) {
  encoder_a_val = digitalRead(encoder_a);
  encoder_b_val = digitalRead(encoder_b);
  if (encoder_a_val == 1){
    if (encoder_b_val == 0){
      count++;
    }else{
      count--;
    }
  }else{
    if (encoder_b_val == 1) {
      count++;
    }
    else {
      count--;
    }
  }
}

void IRAM_ATTR chB_isr(void) {
  encoder_a_val = digitalRead(encoder_a);
  encoder_b_val = digitalRead(encoder_b);
  if (encoder_b_val == 1) {
    if (encoder_a_val == 1) {
      count++;
    }
    else {
      count--;
    }
  }
  else {
    if (encoder_a_val == 0) {
      count++;
    }
    else {
      count--;
    }
  }
}

void setup() {
  Serial.begin(115200);
  pinMode(encoder_a, INPUT_PULLUP);
  pinMode(encoder_b, INPUT_PULLUP);
  attachInterrupt(encoder_a, chA_isr, CHANGE);
  attachInterrupt(encoder_b, chB_isr, CHANGE);
}

void loop() {
  // encoder_a_val_prev = encoder_a_val;
  // encoder_b_val_prev = encoder_b_val;
  // encoder_a_val = digitalRead(encoder_a);
  // encoder_b_val = digitalRead(encoder_b);

  // Serial.print(encoder_a_val);
  // Serial.print(",");
  // Serial.print(encoder_b_val);
  // Serial.print("\n");

  // if (encoder_b_val == 0 && encoder_a_val_prev == 0 && encoder_a_val == 1) {
  //   count++;
  // }
  // if (encoder_a_val == 1 && encoder_b_val_prev == 0 && encoder_b_val == 1) {
  //   count++;
  // }
  // if (encoder_b_val == 1 && encoder_a_val_prev == 1 && encoder_a_val == 0) {
  //   count++;
  // }
  // if (encoder_a_val == 0 && encoder_b_val_prev == 1 && encoder_b_val == 0) {
  //   count++;
  // }

  // if (encoder_b_val == 0 && encoder_a_val_prev == 1 && encoder_a_val == 0) {
  //   count--;
  // }
  // if (encoder_a_val == 1 && encoder_b_val_prev == 1 && encoder_b_val == 0) {
  //   count--;
  // }
  // if (encoder_b_val == 1 && encoder_a_val_prev == 0 && encoder_a_val == 1) {
  //   count--;
  // }
  // if (encoder_a_val == 0 && encoder_b_val_prev == 0 && encoder_b_val == 1) {
  //   count--;
  // }
  Serial.print(count);
  Serial.print("\n");
  delay(50);
}

reading_encoder_pcnt.cpp

#include <Arduino.h>
#include <ESP32Encoder.h>
const int encoder_a = 26;
const int encoder_b = 25;
int count = 0;
ESP32Encoder encoder;
void setup() {
  Serial.begin(115200);
  ESP32Encoder::useInternalWeakPullResistors = UP;
  encoder.attachFullQuad(encoder_b, encoder_a);
}

void loop() {
  count = encoder.getCount();
  Serial.print(count);
  Serial.print("\n");
  delay(50);
}